B站学习成果：四足机器人esp8266
有需要我这版代码的，我丢这儿了，把原作者的动作函数替换一下就好了。不过我这个已经微调过了，每个人的舵机微调数据都不一样的。
void sleep()
{
pwm.setPWM(4, 0, 340);
delay(100);
pwm.setPWM(5, 0, 370);
delay(100);
pwm.setPWM(6, 0, 260);
delay(100);
pwm.setPWM(7, 0, 410);
delay(100);
pwm.setPWM(0, 0, 370);
delay(100);
pwm.setPWM(1, 0, 190);
delay(100);
pwm.setPWM(2, 0, 180);
delay(100);
pwm.setPWM(3, 0, 390);
}
void normal()
{
pwm.setPWM(0, 0, 280);
delay(100);
pwm.setPWM(1, 0, 280);
delay(100);
pwm.setPWM(2, 0, 270);
delay(100);
pwm.setPWM(3, 0, 300);
delay(100);
pwm.setPWM(4, 0, 600);
delay(100);
pwm.setPWM(5, 0, 120);
delay(100);
pwm.setPWM(6, 0, 530);
delay(100);
pwm.setPWM(7, 0, 160);
}
void left()
{
pwm.setPWM(4, 0, 370);
pwm.setPWM(7, 0, 260);
delay(100);
pwm.setPWM(0, 0, 370);
pwm.setPWM(3, 0, 390);
delay(100);
pwm.setPWM(4, 0, 600);
pwm.setPWM(7, 0, 160);
delay(100);
pwm.setPWM(6, 0, 370);
pwm.setPWM(5, 0, 280);
delay(100);
pwm.setPWM(2, 0, 360);
pwm.setPWM(1, 0, 370);
delay(100);
pwm.setPWM(6, 0, 530);
pwm.setPWM(5, 0, 120);
delay(100);
pwm.setPWM(0, 0, 280);
pwm.setPWM(1, 0, 280);
pwm.setPWM(2, 0, 270);
pwm.setPWM(3, 0, 300);
delay(100);
}
void right()
{
pwm.setPWM(5, 0, 280);
pwm.setPWM(6, 0, 370);
delay(100);
pwm.setPWM(1, 0, 190);
pwm.setPWM(2, 0, 180);
delay(100);
pwm.setPWM(5, 0, 120);
pwm.setPWM(6, 0, 530);
delay(100);
pwm.setPWM(7, 0, 260);
pwm.setPWM(4, 0, 370);
delay(100);
pwm.setPWM(3, 0, 210);
pwm.setPWM(0, 0, 190);
delay(100);
pwm.setPWM(7, 0, 160);
pwm.setPWM(4, 0, 600);
delay(100);
pwm.setPWM(0, 0, 280);
pwm.setPWM(1, 0, 280);
pwm.setPWM(2, 0, 270);
pwm.setPWM(3, 0, 300);
delay(100);
}
void forward()
{
pwm.setPWM(7, 0, 260);
pwm.setPWM(4, 0, 370);
delay(50);
pwm.setPWM(3, 0, 390);
pwm.setPWM(0, 0, 190);
delay(50);
pwm.setPWM(7, 0, 160);
pwm.setPWM(4, 0, 600);
delay(100);
pwm.setPWM(0, 0, 280);
pwm.setPWM(3, 0, 300);
pwm.setPWM(6, 0, 370);
pwm.setPWM(5, 0, 280);
delay(50);
pwm.setPWM(2, 0, 180);
pwm.setPWM(1, 0, 380);
delay(50);
pwm.setPWM(6, 0, 530);
pwm.setPWM(5, 0, 120);
delay(100);
pwm.setPWM(1, 0, 280);
pwm.setPWM(2, 0, 270);
}
void backward()
{
pwm.setPWM(5, 0, 280);
pwm.setPWM(6, 0, 370);
delay(50);
pwm.setPWM(1, 0, 190);
pwm.setPWM(2, 0, 400);
delay(50);
pwm.setPWM(5, 0, 120);
pwm.setPWM(6, 0, 530);
delay(100);
pwm.setPWM(1, 0, 280);
pwm.setPWM(2, 0, 270);
pwm.setPWM(4, 0, 370);
pwm.setPWM(7, 0, 260);
delay(50);
pwm.setPWM(0, 0, 370);
pwm.setPWM(3, 0, 170);
delay(50);
pwm.setPWM(4, 0, 600);
pwm.setPWM(7, 0, 160);
delay(100);
pwm.setPWM(0, 0, 280);
pwm.setPWM(3, 0, 300);
}
void hello()
{
pwm.setPWM(7, 0, 300);
delay(100);
pwm.setPWM(0, 0, 370);
delay(200);
pwm.setPWM(4, 0, 110);
delay(300);
pwm.setPWM(4, 0, 340);
delay(300);
pwm.setPWM(4, 0, 110);
delay(300);
pwm.setPWM(4, 0, 340);
delay(300);
pwm.setPWM(4, 0, 110);
delay(300);
pwm.setPWM(4, 0, 340);
delay(500);
pwm.setPWM(0, 0, 280);
pwm.setPWM(4, 0, 600);
pwm.setPWM(7, 0, 160);
}
void come()
{
pwm.setPWM(7, 0, 300);
delay(100);
pwm.setPWM(0, 0, 130);
pwm.setPWM(4, 0, 280);
delay(500);
pwm.setPWM(4, 0, 110);
delay(200);
pwm.setPWM(4, 0, 340);
delay(400);
pwm.setPWM(4, 0, 110);
delay(200);
pwm.setPWM(4, 0, 340);
delay(400);
pwm.setPWM(0, 0, 280);
pwm.setPWM(4, 0, 600);
pwm.setPWM(7, 0, 160);
}
